变化海流环境下AUV能量最优三维路径规划

doi:10.12305/j.issn.1001-506X.2021.12.30

Abstract

Abstract:

In order to obtain the energy optimal path of autonomous underwater vehicle (AUV) in changing ocean current environment, a three-dimensional energy optimal path planning algorithm for AUV is proposed based on the optimal control theory. Firstly, in order to effectively suppress the influence of ocean current on path planning, ocean current vector is added to AUV kinematics model. Secondly, when the pitch angle and AUV position are known, the energy optimal control law is obtained by using Pontryagin minimum principle. Finally, the initial heading angle, speed and energy consumption are calculated by using the state space theory of linear steady system. In the simulation part, compared with the negative feedback control strategy, it shows that the proposed algorithm can plan the three-dimensional energy optimal path, and can effectively reduce the energy consumption of AUV.

Key words: autonomous underwater vehicle (AUV), energy-optimal path planning, variant ocean currents, optimal control theory

CLC Number:

TM761

Yanan LI, Haibin HUANG, Liangming CHEN, Yufei ZHUANG, Xiaoli WANG. Energy-optimal three-dimensional path planning for AUV under changing ocean current environment[J]. Systems Engineering and Electronics, 2021, 43(12): 3667-3674.

Figures/Tables 10

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References 31

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控制量	海流/(m/s)
控制量	v_c	5v_c	10v_c	20v_c
起点海流大小/(m/s)	0.14	0.70	1.40	2.80
终点海流大小/(m/s)	0.24	1.19	2.38	4.75
海流最大值/(m/s)	0.28	1.38	2.76	5.52
航速/(m/s)	0.26	1.30	2.61	5.21
航行终止时间/s	483.54	96.71	48.35	24.17
最优控制消耗能量/J	32.69	163.44	329.36	656.07
负反馈控制消耗能量/J	237.12	2 376.00	8 904.60	35 147.00

控制量	俯仰角/rad
控制量	π/3	π/4	0.99
航速/(m/s)	2.61	5.80	2.95
艏向角/rad	-156.71	38.34	-162.93
航行终止时间/s	483.55	208.89	419.46
能量/J	3 293.99	7 027.06	3 650.35

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Energy-optimal three-dimensional path planning for AUV under changing ocean current environment

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